To connect with your teenager, you'd need to improve your relationship with her/him. I've written a book titled exactly this: How to Improve Your Relationship with Your Child. In it there are three main ways you can do this.
The first is to spend time together, doing things together. It can be as simple as watching a movie together or as complicated as adventuring together. Whatever it is, it's about being together.
The second is to talk positively and listen actively. The way you talk to your teenager counts as well as making your teenager feel heard. I've written another book on Positively Communicate for the Positive Parent. Check that out if you wish.
Thirdly, you need to provide encouragement and support for your teenager. Show him/her that you're on their side.
Download this summary sheet to help you connect with your teen.